error: ‘rclcpp::executor’ has not been declared思考与ROS2的版本号

Posted 2022-06-23 zhangrelay

这个其实是各版本之间不停的改动导致的。

foxy：

That means replace the rclcpp::FutureReturnCode::SUCCESS with rclcpp::executor::FutureReturnCode::SUCCESS.

然后：

galactic：

rclcpp::FutureReturnCode::SUCCESS

humble：

rclcpp::FutureReturnCode::SUCCESS

---

那么针对如下出错信息：

修改对应源代码：

/home/ros/RobCode/mobot/src/mobot/src/send_client.cpp:38:13:

将：

  if (rclcpp::spin_until_future_complete(node, result) ==
    rclcpp::executor::FutureReturnCode::SUCCESS)

修改为：

  if (rclcpp::spin_until_future_complete(node, result) ==
    rclcpp::FutureReturnCode::SUCCESS)

---

然后就一切ok啦。

全部记录：

ros@ros:~/RobCode/mobot$ colcon build
Starting >>> teleop_tools_msgs
Starting >>> key_teleop
Starting >>> mobot
Starting >>> mobot_follow
Starting >>> mouse_teleop
Finished <<< key_teleop [2.30s]                                       
Finished <<< mouse_teleop [2.36s]
Finished <<< teleop_tools_msgs [12.8s]                                       
Starting >>> joy_teleop
Finished <<< joy_teleop [3.74s]                                 
Starting >>> teleop_tools
Finished <<< teleop_tools [0.74s]                               
Finished <<< mobot_follow [19.8s]                               
--- stderr: mobot                               
/home/ros/RobCode/mobot/src/mobot/src/send_client.cpp: In function ‘int main(int, char**)’:
/home/ros/RobCode/mobot/src/mobot/src/send_client.cpp:38:13: error: ‘rclcpp::executor’ has not been declared
   38 |     rclcpp::executor::FutureReturnCode::SUCCESS)
      |             ^~~~~~~~
make[2]: *** [CMakeFiles/send_client.dir/build.make:63：CMakeFiles/send_client.dir/src/send_client.cpp.o] 错误 1
make[1]: *** [CMakeFiles/Makefile2:671：CMakeFiles/send_client.dir/all] 错误 2
make[1]: *** 正在等待未完成的任务....
make: *** [Makefile:141：all] 错误 2
---
Failed   <<< mobot [25.3s, exited with code 2]

Summary: 6 packages finished [25.6s]
  1 package failed: mobot
  1 package had stderr output: mobot
ros@ros:~/RobCode/mobot$ colcon build
Starting >>> teleop_tools_msgs
Starting >>> key_teleop
Starting >>> mobot
Starting >>> mobot_follow
Starting >>> mouse_teleop
Finished <<< mobot_follow [0.90s]                                          
Finished <<< teleop_tools_msgs [1.00s]
Starting >>> joy_teleop
Finished <<< key_teleop [1.99s]                          
Finished <<< mouse_teleop [2.07s]                             
Finished <<< joy_teleop [1.48s]                                               
Starting >>> teleop_tools
Finished <<< teleop_tools [0.12s]                             
Finished <<< mobot [4.66s]                     

Summary: 7 packages finished [4.84s]
ros@ros:~/RobCode/mobot$ 

---

当节点使用服务进行通信时，发送数据请求的节点称为客户端节点，响应请求的节点称为服务节点。 请求和响应的结构由 .srv 文件确定。

When nodes communicate using services, the node that sends a request for data is called the client node, and the one that responds to the request is the service node. The structure of the request and response is determined by a .srv file.

这里使用的例子是一个简单的目标前进系统； 一个节点目标前进服务器，另一个客户端接收对应坐标。

到达目标点附近，任务完成。

这个比导航行动要简单，但是比速度控制反馈等要复杂一些。

给定目标点，到达目标点。

当然也可以用行动来完成，显示距离目标点完成的百分比。

---

服务器端：

#include <iostream>
#include <chrono>
#include <memory>
#include "rclcpp/rclcpp.hpp"
#include "mobot/srv/drivegoalsrv.hpp"
#include <geometry_msgs/msg/twist.hpp>
#include "nav_msgs/msg/odometry.hpp"

using namespace std::chrono_literals;


bool drive_flag=0;
float goal_x=0;
float goal_y=0;
float vel_x=0;
float vel_z=0;
float pid_z=2.0;

void get(const std::shared_ptr<mobot::srv::Drivegoalsrv::Request> request,
          std::shared_ptr<mobot::srv::Drivegoalsrv::Response>      response)

  if(request->x>0.0)
  
    drive_flag=1;
    response->success=drive_flag;
    goal_x=request->x;
    goal_y=request->y;
    RCLCPP_INFO(rclcpp::get_logger("service"), "Driving");
    //RCLCPP_INFO(rclcpp::get_logger("service"), "Get Goal\\nx: %lf" " y: %lf",
    //            request->x, request->y);
    //RCLCPP_INFO(rclcpp::get_logger("service"), "Flag: [%d]", response->success);
  
  else
  
    drive_flag=0;
    response->success=drive_flag;
    goal_x=request->x;
    goal_y=request->y;
    //RCLCPP_INFO(rclcpp::get_logger("service"), "Error, x>0!!!\\nx: %lf" " y: %lf",
    //            request->x, request->y);
    //RCLCPP_INFO(rclcpp::get_logger("service"), "Flag: [%d]", response->success);    
  


void odom_callback(const nav_msgs::msg::Odometry::SharedPtr msg)

  if(drive_flag)
  
    vel_x=goal_x-msg->pose.pose.position.x;
    vel_z=pid_z*(goal_y-msg->pose.pose.position.y)*vel_x*vel_x;
    if(vel_z>0.5)
    
       vel_z=0.5;
    
    if(vel_z<-0.5)
    
       vel_z=-0.5;
    
    if(vel_x>1.0)
    
       vel_x=1.0;
    
    if(vel_x<-1.0)
    
       vel_x=-1.0;
    
    if((vel_x<0.05)&&(vel_x>-0.05)) 
      if((vel_z<0.05)&&(vel_z>-0.05)) 
      
        RCLCPP_INFO(rclcpp::get_logger("service"), "Mission complete!");
        RCLCPP_INFO(rclcpp::get_logger("service"), "Ready to get goal.");
        drive_flag=0;
         
  
  else
  
    vel_x=0;
    vel_z=0;
  	
//  RCLCPP_INFO(rclcpp::get_logger("odom_sub"), "I heard: mobot odom position(x,y)='%f','%f'", msg->pose.pose.position.x, msg->pose.pose.position.y);


int main(int argc, char **argv)

  rclcpp::init(argc, argv);

  std::shared_ptr<rclcpp::Node> node = rclcpp::Node::make_shared("get_goal_server");
  rclcpp::Service<mobot::srv::Drivegoalsrv>::SharedPtr service =
    node->create_service<mobot::srv::Drivegoalsrv>("get_goal", &get);
  rclcpp::Publisher<geometry_msgs::msg::Twist>::SharedPtr vel_pub = 
    node->create_publisher<geometry_msgs::msg::Twist>("mobot/cmd_vel", 10);
  geometry_msgs::msg::Twist mobot_vel; 
  rclcpp::Subscription<nav_msgs::msg::Odometry>::SharedPtr odom_sub =
    node->create_subscription<nav_msgs::msg::Odometry>("/mobot/odom", 100, odom_callback);
  RCLCPP_INFO(rclcpp::get_logger("service"), "Ready to get goal.");
  rclcpp::WallRate loop_rate(100ms);
  while (rclcpp::ok()) 
    mobot_vel.linear.x = vel_x; 
    mobot_vel.angular.z = vel_z; 
    //RCLCPP_INFO(rclcpp::get_logger("vel_pub"), "Publishing mobot cmd_vel : linear='%f',angular='%f'", mobot_vel.linear.x, mobot_vel.angular.z);
    vel_pub->publish(mobot_vel);
    rclcpp::spin_some(node);  
    loop_rate.sleep();
   
  rclcpp::shutdown(); 
  return 0; 

---

客户端： 

#include "rclcpp/rclcpp.hpp"
#include "mobot/srv/drivegoalsrv.hpp"

#include <chrono>
#include <cstdlib>
#include <memory>

using namespace std::chrono_literals;

int main(int argc, char **argv)

  rclcpp::init(argc, argv);

  if (argc != 3) 
      RCLCPP_INFO(rclcpp::get_logger("rclcpp"), "usage: send_goal_position_client X Y");
      return 1;
  

  std::shared_ptr<rclcpp::Node> node = rclcpp::Node::make_shared("send_goal_client");
  rclcpp::Client<mobot::srv::Drivegoalsrv>::SharedPtr client =
    node->create_client<mobot::srv::Drivegoalsrv>("get_goal");

  auto request = std::make_shared<mobot::srv::Drivegoalsrv::Request>();
  request->x = atoll(argv[1]);
  request->y = atoll(argv[2]);

  while (!client->wait_for_service(1s)) 
    if (!rclcpp::ok()) 
      RCLCPP_ERROR(rclcpp::get_logger("rclcpp"), "Interrupted while waiting for the service. Exiting.");
      return 0;
    
    RCLCPP_INFO(rclcpp::get_logger("rclcpp"), "service not available, waiting again...");
  

  auto result = client->async_send_request(request);
  // Wait for the result.
  if (rclcpp::spin_until_future_complete(node, result) ==
    rclcpp::FutureReturnCode::SUCCESS)
  
    RCLCPP_INFO(rclcpp::get_logger("rclcpp"), "Flag: %d", result.get()->success);
   else 
    RCLCPP_ERROR(rclcpp::get_logger("rclcpp"), "Failed to call service get_goal");
  

  rclcpp::shutdown();
  return 0;